An apparatus for manipulating objects include a plurality of actuators distributed on a rig. The actuators cooperate to orient and move the well equipment. Each actuator may include at least one non-rigid tension member configured to engage the well equipment, and at least one sensor generating a signal representative of at least one parameter of: (i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members. The actuators may also each include a drum guiding each of the at least one non-rigid tension members and a motor rotating each drum. The apparatus further includes a controller in communication with the actuators, the controller being programmed to move the object based on the at least one sensor signals.
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1. An apparatus for manipulating an object, comprising:
a first actuator having a least one non-rigid tension member configured to engage the object at a first contact point;
a second actuator having at least one non-rigid tension member configured to engage the object at a second contact point; and
a controller in communication with the first actuator and the second actuator, the controller estimating a length of the at least one non-rigid tension member of the first actuator and the second actuator, the controller being programmed to control the first actuator and the second actuator to orient the object relative to an internal reference frame and move the object relative to an external reference frame.
15. A method for manipulating an object, comprising:
positioning an object manipulating apparatus on a rig, the object manipulating apparatus including:
a first actuator having a least one non-rigid tension member configured to engage the object at a first contact point;
a second actuator having at least one non-rigid tension member configured to engage the object at a second contact point; and
a controller in communication with the first actuator and the second actuator, the controller estimating a length of the at least one non-rigid tension member of the first actuator and the second actuator, the controller being programmed to control the first actuator and the second actuator to orient the object relative to an internal reference frame and move the object relative to an external reference frame; and
orienting and moving the object by operating the object manipulating apparatus.
12. An apparatus for manipulating well equipment, comprising:
a rig;
a plurality of actuators distributed on the rig, the actuators cooperating to orient and move the well equipment, wherein each actuator includes:
at least one non-rigid tension member configured to engage the well equipment, and
at least one sensor generating a signal representative of at least one parameter selected from a group consisting of: (i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members,
a drum guiding each of the at least one non-rigid tension members, and
a motor rotating each drum; and
a controller in communication with the actuators, wherein the controller is programmed to move the object based on the at least one sensor signals,
wherein the actuators generate substantially opposing forces on the object and handle the object using six degrees of freedom of movement.
2. The apparatus of
(i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members.
3. The apparatus of
4. The apparatus of
5. The apparatus of
6. The apparatus of
a third actuator having a least one non-rigid tension member configured to engage the object at a third contact point; and
a fourth actuator having at least one non-rigid tension member configured to engage the object at a fourth point,
wherein the first and the third contact points are co-located and the second and the fourth contact points are co-located, wherein the first and the third actuators generate substantially opposing forces on the object, wherein the second and the fourth actuators generate substantially opposing forces on the object, and wherein the first, second, third, and fourth actuators cooperate to handle the object using at least six degrees of freedom.
7. The apparatus of
8. The apparatus of
9. The apparatus of
10. The apparatus of
11. The apparatus of
13. The apparatus of
14. The apparatus of
17. The method of
a tubular, pipe, drill pipe, a packer, a bridge plug, a drill collar, a casing, a liner, a screen, a drilling motor, an MWD sub, a bottom hole assembly, a completion tool, a workover tool, and an electric submersible pump.
18. The method of
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None.
1. Field of the Disclosure
This disclosure relates generally to oilfield, geothermal and mining systems for improvement of efficiency of handling equipment.
2. Background of the Art
Well construction facilities use several methods for transferring well equipment between two or more locations on the rig site. Illustrative well equipment includes, but is not limited to, pipe, drill pipe, drill collars, casing, liner, screens, drilling motors, MWD subs, bottom hole assemblies (BHA), and other devices and components used to construct, complete, and service a well.
Conventionally, rigs use cranes and hoisting systems for moving well equipment. A common system is a pipe mover, which moves a pipe between a horizontal orientation and a vertical orientation. Typically, these devices include interconnected arms that are associated with a boom and hydraulic actuators connected to each of the components. These hydraulic actuators usually require a significant amount of energy during operation. Much of this energy is used to move the components of pipe mover and not the pipe itself. These types of systems may be considered to use serial kinematics. That is, movement and energy is transmitted in a serial fashion from one arm to another to well equipment. A pipe mover is typical of well equipment handling devices that expend a considerable amount of energy to move itself while moving well equipment.
In aspects, the present disclosure provides more energy-efficient methods and systems for moving well equipment.
In aspects, the present disclosure provides an apparatus for manipulating an object. The apparatus may include a first actuator having a least one non-rigid tension member configured to engage the object at a first contact point; a second actuator having at least one non-rigid tension member configured to engage the object at a second contact point; and a controller in communication with the first actuator and the second actuator. The first actuator and the second actuator cooperate to orient and move the object. The controller estimates a length of the at least one non-rigid tension member of the first actuator and the second actuator.
In aspects, the present disclosure provides a method for manipulating an object. The method may include distributing a plurality of actuators on a rig and orienting and moving the well equipment by operating the actuators using a controller in communication with the actuators. Each actuator may include at least one non-rigid tension member configured to engage the well equipment, and at least one sensor generating a signal representative of at least one parameter. The parameter may be one or more of (i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members. The controller may be programmed to move the object based on the at least one sensor signals.
In aspects, the present disclosure provides an apparatus for manipulating well equipment. The apparatus may include a rig; a plurality of actuators distributed on the rig, the actuators cooperating to orient and move the well equipment, wherein each actuator includes: at least one non-rigid tension member configured to engage the well equipment, and at least one sensor generating a signal representative of at least one parameter selected from a group consisting of: (i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members; a drum guiding each of the at least one non-rigid tension members; and a motor rotating each drum; and a controller in communication with the actuators, wherein the controller is programmed to move the object based on the at least one sensor signals.
Examples of certain features of the disclosure have been summarized in order that the detailed description thereof that follows may be better understood and in order that the contributions they represent to the art may be appreciated. There are, of course, additional features of the disclosure that will be described hereinafter and which will form the subject of the claims appended hereto.
For a detailed understanding of the present disclosure, reference should be made to the following detailed description of the embodiments, taken in conjunction with the accompanying drawings, in which like elements have been given like numerals, wherein:
Referring initially to
The system 10 may include a plurality of actuators 20a-h, a plurality of wires 40, and a controller 60. The system 10 may include enough actuators 20a-h to provide six degrees of freedom for handling an object, such as equipment 14. The six degrees of freedom include rotation about three axes and linear movement along three axes. Additionally, the system 10 may be also arranged to utilize parallel kinematics. That is, all of the actuators 20a-h are directly connected to the equipment 14. Thus, minimal energy is used by each of the actuators 20a-h to move objects other than the equipment 14. As discussed in greater detail below, the controller 60 may be programmed to control the length and/or tension of the wires 40 by transmitting appropriate control signals to the actuators 20a-h. By manipulating the wires 40 in this manner, equipment 14 connected to the wires may be precisely moved and oriented.
Referring to
In certain embodiments, GPS devices and other similar positioning/location sensors. Additionally, video signals may be used to estimate the position and orientation of the equipment 14 or other components of the system 10. For instance, a 2D or 3D video monitor may be used to acquire visual information regarding the equipment 14. This information may be used to estimate the position of the equipment 14. Of course, two or more different sensor types (e.g., visual, acoustic, radar, etc., tension, rotation, LVDT, etc.) may be used cooperatively to estimate movement, orientation, and position of the equipment 14. For example, a first set of sensors (e.g., GPS or visual) may be used to obtain a general or “rough” estimate of a position or orientation of the equipment 14. A second set of sensors (e.g., rotation counter) may be used for “fine” or precise positioning and orientation.
A suitable bi-directional transmitter 33 may be used to transmit the sensor information to the controller 32 and to transmit control signals from the controller 32 to the rotary power device 22. The bi-directional transmitter 33 may use solid data carriers (e.g., metal fibers or optical fibers) or wireless technologies (e.g., RF signals).
In one embodiment, two sets of actuators 20a-d,e-h may be used to move and orient the equipment. Each set of actuators 20a-d, e-h attaches to an opposing end of the equipment 14. For example, an upper set of actuators 20a-d attaches to an upper attachment point 16 of the equipment 14 and a lower set of actuators 20e-h attaches to a lower attachment point 18 of the equipment 14. The upper actuator set includes actuators 20a-d. The lower actuator set includes actuators 20e-h. While the attachment points 16, 18 are shown at the ends of the equipment 14, the attachment points 16, 18 may be anywhere along the axial length of the equipment. Likewise, while four actuators are shown in each actuator set, greater or fewer numbers of actuators may be used.
As should be appreciated, each of the actuators 20a-d and actuators 20e-h apply a force vector (e.g., tension at a specific direction) to the equipment 14. It should also be appreciated that the length of wire 40 between each of the actuators 20a-d and actuators 20e-h and their respective attachment points 16, 18 determines the location and orientation of the equipment 14.
The controller 32 may be used to orient and move the equipment 14. In one arrangement, the controller 32 may be programmed to autonomously control the handling operation. That is, the controller 32 may be programmed to control the actuators 20a-h to orient the equipment 14 relative to an internal reference frame and move the equipment 14 relative to an external reference frame. For instance, the controller 32 may include an information processing device (not shown) that may be programmed with algorithms, programs, mathematical models, or instructions to estimate an orientation and/or position relating to the equipment 14 based on the information acquired from the sensors 24. The controller 32 may also be programmed with a predetermined path or trajectory for the equipment. Based on this pre-programming and acquire information, the controller 32 may operate in an autonomous mode to move/orient the equipment 14. The controller 32 may also be responsive to human inputs and thereby operate in a manual or semi-autonomous mode. The controller 32 may use the bi-directional transmitter 33 for communicating with the actuators 20a-h. The bi-directional transmitter 33 may use wired or wireless communication equipment.
Referring to
Thus, the position of the equipment 14 may be determined from the sensor signals (direct kinematic). By comparing the determined position with the predetermined desired position (trajectory) of the equipment 14, the controller 32 can determine the forces for the actuators 20a-h and the desired wire length to enable a movement of the equipment 14 along the desired trajectory. It should be appreciated that each of the wire forces comprises a pretension (drag-force) part to enable a static equilibrium and an additional dynamic part to enable the movement along the desired trajectory. The sum of forces results in a movement along the desired trajectory.
Numerous methods and devices may be used to reset the actuators 20a-h from the positions shown in
Referring now to
Referring to
Referring to
In another embodiment, the actuators 80 may each include the rotary power device 22 shown in
In the above described embodiments, a suitable bi-directional transmitter 102 may be used to transmit the sensor information to the controller 100 and to transmit control signals from the controller 100 to the actuators 80.
The actuators 80 may be distributed around the equipment in order to have at least six degrees of freedom of movement. In this arrangement, there are three attachment points 106. One or more actuators 80 may be attached to each one of the attachment points 106. The attachment points 106 may be anywhere along the axial length of the equipment 14. Likewise, while five actuators 80 are shown, greater or fewer number of actuators may be used.
Referring to
The controller 100 may be used to orient and move the equipment 14. In one arrangement, the controller 100 may be programmed to autonomously control the treatment operation. For instance, the controller 100 may include an information processing device (not shown) that may be programmed with algorithms, programs, mathematical models, or instructions to estimate an orientation and/or position relating to the equipment 14 based on the information acquired from the sensors 84 (
It should be noted that in the
The term “information” as used above includes any form of information (Analog, digital, EM, printed, etc.). The term “information processing device” herein includes, but is not limited to, any device that transmits, receives, manipulates, converts, calculates, modulates, transposes, carries, stores or otherwise utilizes information. An information processing device may include a microprocessor, resident memory, and peripherals for executing programmed instructions.
While the foregoing disclosure is directed to the one mode embodiments of the disclosure, various modifications will be apparent to those skilled in the art. It is intended that all variations within the scope of the appended claims be embraced by the foregoing disclosure.
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Sep 19 2014 | LEHR, JOERG | Baker Hughes Incorporated | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 033911 | /0755 |
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